Activating Rotary Axes - Siemens SINUMERIK 840D sl Function Manual

R2: Rotary axes

13.4 Activating rotary axes

13.4 Activating rotary axes
13.4
Procedure
The procedure for activating rotary axes is the same as that for linear axes with a small
number of exceptions. It should be noted that, as soon as the axis is defined as a rotary axis
(MD30300 $MA_IS_ROT_AX = 1), the axis-specific-machine-/setting-data units are
interpreted by the control as follows:
Positions
Velocities
Accelerations
Jerk limitation
Special machine data
Special rotary-axis machine data may also have to be entered, depending on the application:
MD30310 $MA_ROT_IS_MODULO
MD30320 $MA_DISPLAY_IS_MODULO
MD10210 $MN_INT_INCR_PER_DEG
The following overview lists the possible combinations of these machine data for a rotary
axis:
Possible combinations of rotary-axis machine data
MD30300
0
1
1
866
In "degrees"
In "rev/min"
In "rev/sec
In "rev/sec
MD30310 MD30320
0 0
0 0
0 1
"
2
"
3
Modulo conversion for positioning and
programming
Modulo conversion for position display
Computational resolution for angular positions
Application Remarks
permitted
Yes The axis is a linear axis (default).
Yes The axis is a rotary axis; modulo
conversion is not used for positioning, i.e.,
the software limit switches are active; the
position display is absolute.
Yes The axis is a rotary axis; modulo
conversion is not used for positioning, i.e.,
the software limit switches are active; the
position display is modulo;
Application: for axes with an operating
range of +/-1000°, for example
Function Manual, 09/2009, 6FC5397-1BP20-0BA0
Extended Functions